What is the name of this cartoon?

A family (man, a woman, a boy and possibly a girl), lived and overcame evil with the help of three ghosts, a flying kangaroo/dinosaur that shot fire from its mouth and an elephant/mastodon/mammoth that could shoot photons from its trunk. The family lived in the time of dinosaurs or in a time far into the future. The man looked somewhat like He-man and the woman looked similar to his sister, the princess. The three ghosts were of graduated sizes. And the cartoon was from the 60's, 70's, about the time to Johnny Quest and Space Ghost.